The Twinsync Technology Option - Moog MSD Specification

2 The TWINsync technology option

This documentation describes the TWINsync technology option for the MSD Servo
Drive. The TWINsync technology option is based on an optional communication
interface available for the MSD Servo Drive for option slot 2 (X8) which can be used
to connect two MSD Servo Drive devices with one another. The use of the TWINsync
option is therefore geared towards applications in which the synchronous operation of
two drives is required or in which one drive needs to use the I/O or encoder interfaces
of another drive.
Any process data desired can be exchanged between two drives via the TWINsync
option. The data exchange is bidirectional and operates together with the sampling
time of the speed control. As an alternative, pre-configured telegram types or
telegrams that can be configured as desired are available.
The TWINsync communication interface contains a synchronization mechanism. The
MSD Servo Drive parametrized as the TWINsync master generates a cyclical signal
pulse on the SYNC_OUT line of the interface which is synchronous with its own
control cycle. The MSD Servo Drive parametrized as the TWINsync slave receives the
synchronization signal on its SYNC_IN line and synchronizes its own control cycle
with the TWINsync master.
NOTE:
In the "TWINsync-Slave" TWIN mode, the source for the synchronization
must be configured suitably because of the different synchronization
mechanisms that exist when a real-time field bus (including EtherCAT,
SERCOS II/III, CAN, Profinet IRT, Powerlink) or MSD Servo Drive Safety-
Slave is used at the same time. Possible synchronization sources are the
TWIN option itself, a real-time field bus or the safety cross-communication.
moog
ID no.: CB08759-001 Date: 03/2023
2 The TWINsync technology option
The process data that are to be exchanged via the TWINsync interface can be
defined via the configuration parameters. A setting must be made for both the
TWINsync master and the TWINsync slave specifying from which parameters the
sent data should be taken and to which parameters the received data should be
copied. In addition to a freely definable configuration, there are also pre-set
telegrams (TWIN operation modes) for masters and slaves available for selection.
A maximum of up to 30 bytes of usable data can be sent via the TWINsync interface,
depending on the baud rate selected (250 kBaud - 4 MBaud) and the TWIN
sampling time (dependent on the switching frequency, 250 µs or 125 µs). The
default settings are 4 MBaud and 10 bytes of usable data. The following list
summarizes the performance characteristics of the TWINsync option in keywords.
Performance characteristics of the TWINsync option:
Serial data transfer via a twisted pair cable (EIA485) in master-slave
l
operation
Galvanic isolation of the transmission channel from the control PCB
l
Transfer rate: 250 kBaud - 4 MBaud
l
Full duplex operation
l
Frame size: 6 - 32 bytes; of this, 0 - 30 bytes of usable data with 2 bytes for
l
CRC.
Frame rate: Data transfer takes place according to the speed control clock
l
(dependent on the switching frequency; at 4 kHz, 250 µs or at 8 kHz, 125 µs,
corresponding to the display in P0305 or P0304)
Monitored synchronization of master and slave
l
Mapping as desired of the sent and received data to parameters or scope
l
variables.
Checksum-monitored data transfer
l
Specification TWINsync module
8